function xdeltastCOMFn = deltastCOMFn(x)
xdeltastCOMFn = (-505129786708075980 - 3577163401231118908009*x(1) -  ...
  1075087071750712872674*x(2) + 425904567985491514387*x(3) -  ...
  449900641306353837002*x(4) - 41946604805023921035*x(5))/ ...
 3577163329901946072409 ...
;